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/****************************************************************************
*
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "SurveyComplexItemTest.h"
#include "QGCApplication.h"
#include "JsonHelper.h"
SurveyComplexItemTest::SurveyComplexItemTest(void)
{
// We use a 100m by 100m square test polygon
const double edgeDistance = 100;
_polyVertices.append(QGeoCoordinate(47.633550640000003, -122.08982199));
_polyVertices.append(_polyVertices[0].atDistanceAndAzimuth(edgeDistance, 90));
_polyVertices.append(_polyVertices[1].atDistanceAndAzimuth(edgeDistance, 180));
_polyVertices.append(_polyVertices[2].atDistanceAndAzimuth(edgeDistance, -90.0));
}
void SurveyComplexItemTest::init(void)
{
TransectStyleComplexItemTestBase::init();
_rgSurveySignals[surveyVisualTransectPointsChangedIndex] = SIGNAL(visualTransectPointsChanged());
_rgSurveySignals[surveyCameraShotsChangedIndex] = SIGNAL(cameraShotsChanged());
_rgSurveySignals[surveyCoveredAreaChangedIndex] = SIGNAL(coveredAreaChanged());
_rgSurveySignals[surveyTimeBetweenShotsChangedIndex] = SIGNAL(timeBetweenShotsChanged());
_rgSurveySignals[surveyRefly90DegreesChangedIndex] = SIGNAL(refly90DegreesChanged(bool));
_rgSurveySignals[surveyDirtyChangedIndex] = SIGNAL(dirtyChanged(bool));
_surveyItem = new SurveyComplexItem(_masterController, false /* flyView */, QString() /* kmlFile */, this /* parent */);
_mapPolygon = _surveyItem->surveyAreaPolygon();
_mapPolygon->appendVertices(_polyVertices);
QVERIFY(_surveyItem->cameraCalc()->isManualCamera());
// Set grid spacing to match expected transect count
double polyWidthDistance = _polyVertices[0].distanceTo(_polyVertices[1]);
double polyHeightDistance = _polyVertices[0].distanceTo(_polyVertices[3]);
_surveyItem->cameraCalc()->adjustedFootprintSide()->setRawValue((polyWidthDistance * 0.5) - 1.0);
_surveyItem->cameraCalc()->adjustedFootprintFrontal()->setRawValue(polyHeightDistance * 0.25);
_surveyItem->gridAngle()->setRawValue(0);
int expectedTransectCount = _expectedTransectCount;
QCOMPARE(_surveyItem->_transectCount(), expectedTransectCount);
_surveyItem->setDirty(false);
// It's important to check that the right signals are emitted at the right time since that drives ui change.
// It's also important to check that things are not being over-signalled when they should not be, since that can lead
// to incorrect ui or perf impact of uneeded signals propogating ui change.
_multiSpy = new MultiSignalSpy();
Q_CHECK_PTR(_multiSpy);
QCOMPARE(_multiSpy->init(_surveyItem, _rgSurveySignals, _cSurveySignals), true);
}
void SurveyComplexItemTest::cleanup(void)
{
delete _surveyItem;
delete _multiSpy;
TransectStyleComplexItemTestBase::cleanup();
}
void SurveyComplexItemTest::_testDirty(void)
{
QVERIFY(!_surveyItem->dirty());
_surveyItem->setDirty(false);
QVERIFY(!_surveyItem->dirty());
QVERIFY(_multiSpy->checkNoSignals());
_surveyItem->setDirty(true);
QVERIFY(_surveyItem->dirty());
QVERIFY(_multiSpy->checkOnlySignalByMask(surveyDirtyChangedMask));
QVERIFY(_multiSpy->pullBoolFromSignalIndex(surveyDirtyChangedIndex));
_multiSpy->clearAllSignals();
_surveyItem->setDirty(false);
QVERIFY(!_surveyItem->dirty());
QVERIFY(_multiSpy->checkOnlySignalByMask(surveyDirtyChangedMask));
_multiSpy->clearAllSignals();
// These facts should set dirty when changed
QList<Fact*> rgFacts;
rgFacts << _surveyItem->gridAngle() << _surveyItem->flyAlternateTransects();
for(Fact* fact: rgFacts) {
qDebug() << fact->name();
QVERIFY(!_surveyItem->dirty());
if (fact->typeIsBool()) {
fact->setRawValue(!fact->rawValue().toBool());
} else {
fact->setRawValue(fact->rawValue().toDouble() + 1);
}
QVERIFY(_multiSpy->checkSignalByMask(surveyDirtyChangedMask));
QVERIFY(_multiSpy->pullBoolFromSignalIndex(surveyDirtyChangedIndex));
_surveyItem->setDirty(false);
_multiSpy->clearAllSignals();
}
rgFacts.clear();
}
// Clamp expected grid angle from 0<->180. We don't care about opposite angles like 90/270
double SurveyComplexItemTest::_clampGridAngle180(double gridAngle)
{
if (gridAngle >= 0.0) {
if (gridAngle == 360.0) {
gridAngle = 0.0;
} else if (gridAngle >= 180.0) {
gridAngle -= 180.0;
}
} else {
if (gridAngle < -180.0) {
gridAngle += 360.0;
} else {
gridAngle += 180.0;
}
}
return gridAngle;
}
void SurveyComplexItemTest::_testGridAngle(void)
{
for (double gridAngle=-360.0; gridAngle<=360.0; gridAngle++) {
_surveyItem->gridAngle()->setRawValue(gridAngle);
QVariantList gridPoints = _surveyItem->visualTransectPoints();
QGeoCoordinate firstTransectEntry = gridPoints[0].value<QGeoCoordinate>();
QGeoCoordinate firstTransectExit = gridPoints[1].value<QGeoCoordinate>();
double azimuth = firstTransectEntry.azimuthTo(firstTransectExit);
//qDebug() << gridAngle << azimuth << _clampGridAngle180(gridAngle) << _clampGridAngle180(azimuth);
int clampGridAngle = qRound(_clampGridAngle180(gridAngle));
int clampAzimuth = qRound(_clampGridAngle180(azimuth));
QCOMPARE(clampGridAngle, clampAzimuth);
}
}
void SurveyComplexItemTest::_testEntryLocation(void)
{
for (double gridAngle=-360.0; gridAngle<=360.0; gridAngle++) {
_surveyItem->gridAngle()->setRawValue(gridAngle);
// Validate that each entry location is unique
QList<QGeoCoordinate> rgSeenEntryCoords;
for (int rotateCount=0; rotateCount<3; rotateCount++) {
_surveyItem->rotateEntryPoint();
QVERIFY(!rgSeenEntryCoords.contains(_surveyItem->coordinate()));
rgSeenEntryCoords << _surveyItem->coordinate();
}
_surveyItem->rotateEntryPoint(); // Rotate back for first entry point
rgSeenEntryCoords.clear();
}
}
void SurveyComplexItemTest::_testItemCount(void)
{
typedef struct {
bool hoverAndCapture;
bool triggerInTurnAround;
bool refly90;
bool hasTurnaround;
} TestCase_t;
QList<TestCase_t> rgTestCases;
for (int i=0; i<2; i++) {
for (int j=0; i<2; i++) {
for (int k=0; i<2; i++) {
for (int l=0; i<2; i++) {
TestCase_t testCase;
testCase.hoverAndCapture = i;
testCase.triggerInTurnAround = j;
testCase.refly90 = k;
testCase.hasTurnaround = l;
rgTestCases.append(testCase);
}
}
}
}
QList<MissionItem*> items;
for (const TestCase_t& testCase : rgTestCases) {
qDebug() << "hoverAndCapture:triggerInTurnAround:refly90:hasTuraround" << testCase.hoverAndCapture << testCase.triggerInTurnAround << testCase.refly90 << testCase.hasTurnaround;
_surveyItem->hoverAndCapture()->setRawValue(testCase.hoverAndCapture);
_surveyItem->cameraTriggerInTurnAround()->setRawValue(testCase.triggerInTurnAround);
_surveyItem->refly90Degrees()->setRawValue(testCase.refly90);
_surveyItem->turnAroundDistance()->setRawValue(testCase.hasTurnaround ? 50 : 0);
_surveyItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _surveyItem->lastSequenceNumber());
items.clear();
}
}
QList<MAV_CMD> SurveyComplexItemTest::_createExpectedCommands(bool hasTurnaround, bool useConditionGate)
{
static const QList<MAV_CMD> singleFullTransect = {
MAV_CMD_NAV_WAYPOINT, // Turnaround
MAV_CMD_CONDITION_GATE, // Survey area entry edge
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_CMD_CONDITION_GATE, // Survey area exit edge
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_CMD_NAV_WAYPOINT,
};
QList<MAV_CMD> singleTransect = singleFullTransect;
QList<MAV_CMD> expectedCommands;
if (!useConditionGate) {
for (MAV_CMD& cmd : singleTransect) {
cmd = cmd == MAV_CMD_CONDITION_GATE ? MAV_CMD_NAV_WAYPOINT : cmd;
}
}
if (!hasTurnaround) {
singleTransect.takeFirst();
singleTransect.takeLast();
}
for (int i=0; i<_expectedTransectCount; i++) {
expectedCommands.append(singleTransect);
}
return expectedCommands;
}
void SurveyComplexItemTest::_testItemGenerationWorker(bool imagesInTurnaround, bool hasTurnaround, bool useConditionGate, const QList<MAV_CMD>& expectedCommands)
{
qDebug() << QStringLiteral("_testItemGenerationWorker imagesInTuraround:%1 turnaround:%2 gate:%3").arg(imagesInTurnaround).arg(hasTurnaround).arg(useConditionGate);
_surveyItem->turnAroundDistance()->setRawValue(hasTurnaround ? 50 : 0);
_surveyItem->cameraTriggerInTurnAround()->setRawValue(imagesInTurnaround);
_planViewSettings->useConditionGate()->setRawValue(useConditionGate);
QList<MissionItem*> items;
_surveyItem->appendMissionItems(items, this);
#if 0
// Handy for debugging failures
_printItemCommands(items);
#endif
QCOMPARE(items.count(), expectedCommands.count());
for (int i=0; i<expectedCommands.count(); i++) {
int actualCommand = items[i]->command();
int expectedCommand = expectedCommands[i];
#if 0
// Handy for debugging failures
qDebug() << "Index" << i;
#endif
QCOMPARE(actualCommand, expectedCommand);
}
}
void SurveyComplexItemTest::_testItemGeneration(void)
{
// Test all the combinations of: cameraTriggerInTurnAround: false, hasTurnAround: *, useConditionGate: *
typedef struct {
bool hasTurnaround;
bool useConditionGate;
} TestCase_t;
static const TestCase_t rgTestCases[] = {
{ false, false },
{ false, true },
{ true, false },
{ true, true },
};
for (const TestCase_t& testCase : rgTestCases) {
_testItemGenerationWorker(false /* imagesInTurnaround */, testCase.hasTurnaround, testCase.useConditionGate, _createExpectedCommands(testCase.hasTurnaround, testCase.useConditionGate));
}
// Test cameraTriggerInTurnAround = true cases
QList<MAV_CMD> imagesInTurnaroundWithTurnaroundDistanceCommands = {
// Transect 1
MAV_CMD_CONDITION_GATE, // First turaround
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_CMD_CONDITION_GATE, // Survey entry
MAV_CMD_DO_SET_CAM_TRIGG_DIST, // Survey entry also has trigger start
MAV_CMD_NAV_WAYPOINT, // Survey exit
MAV_CMD_NAV_WAYPOINT, // Turnaround
// Transect 2
MAV_CMD_NAV_WAYPOINT, // Turnaround
MAV_CMD_CONDITION_GATE, // Survey entry
MAV_CMD_DO_SET_CAM_TRIGG_DIST, // Survey entry also has trigger start
MAV_CMD_NAV_WAYPOINT, // Survey exit
MAV_CMD_CONDITION_GATE, // Final turnaround
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
};
_testItemGenerationWorker(true /* imagesInTurnaround */, true /* hasTurnaround */, true /* useConditionGate */, imagesInTurnaroundWithTurnaroundDistanceCommands);
// Switch to non CONDITION_GATE usage
for (MAV_CMD& cmd : imagesInTurnaroundWithTurnaroundDistanceCommands) {
cmd = cmd == MAV_CMD_CONDITION_GATE ? MAV_CMD_NAV_WAYPOINT : cmd;
}
_testItemGenerationWorker(true /* imagesInTurnaround */, true /* hasTurnaround */, false /* useConditionGate */, imagesInTurnaroundWithTurnaroundDistanceCommands);
QList<MAV_CMD> imagesInTurnaroundWithoutTurnaroundDistanceCommands = {
// Transect 1
MAV_CMD_CONDITION_GATE, // Survey entry
MAV_CMD_DO_SET_CAM_TRIGG_DIST, // Camera trigger start for entire survey
MAV_CMD_NAV_WAYPOINT, // Survey exit
// Transect 2
MAV_CMD_CONDITION_GATE, // Survey entry
MAV_CMD_DO_SET_CAM_TRIGG_DIST, // Survey entry also has trigger start
MAV_CMD_CONDITION_GATE, // Survey exit
MAV_CMD_DO_SET_CAM_TRIGG_DIST, // Camera trigger stop for entire survey
};
_testItemGenerationWorker(true /* imagesInTurnaround */, false /* hasTurnaround */, true /* useConditionGate */, imagesInTurnaroundWithoutTurnaroundDistanceCommands);
// Switch to non CONDITION_GATE usage
for (MAV_CMD& cmd : imagesInTurnaroundWithoutTurnaroundDistanceCommands) {
cmd = cmd == MAV_CMD_CONDITION_GATE ? MAV_CMD_NAV_WAYPOINT : cmd;
}
_testItemGenerationWorker(true /* imagesInTurnaround */, false /* hasTurnaround */, false /* useConditionGate */, imagesInTurnaroundWithoutTurnaroundDistanceCommands);
}
void SurveyComplexItemTest::_testHoverCaptureItemGeneration(void)
{
static const QList<MAV_CMD> singleFullTransect = {
MAV_CMD_NAV_WAYPOINT, // Turnaround
MAV_CMD_NAV_WAYPOINT, // Survey area entry edge
MAV_CMD_IMAGE_START_CAPTURE,
MAV_CMD_NAV_WAYPOINT, // Interior trigger
MAV_CMD_IMAGE_START_CAPTURE,
MAV_CMD_NAV_WAYPOINT, // Interior trigger
MAV_CMD_IMAGE_START_CAPTURE,
MAV_CMD_NAV_WAYPOINT, // Survey area exit edge
MAV_CMD_IMAGE_START_CAPTURE,
MAV_CMD_NAV_WAYPOINT, // Turnaround
};
QList<MAV_CMD> expectedCommands;
for (int i=0; i<_expectedTransectCount; i++) {
expectedCommands.append(singleFullTransect);
}
// Set trigger distance to generates two interior capture points
double polyHeightDistance = _polyVertices[0].distanceTo(_polyVertices[3]);
double triggerDistance = (polyHeightDistance / 3.0) + 1.0;
_surveyItem->cameraCalc()->adjustedFootprintFrontal()->setRawValue(triggerDistance);
_surveyItem->hoverAndCapture()->setRawValue(true);
_testItemGenerationWorker(false /* imagesInTurnaround */, true /* hasTurnaround */, true /* useConditionGate */, expectedCommands);
_testItemGenerationWorker(false /* imagesInTurnaround */, true /* hasTurnaround */, false /* useConditionGate */, expectedCommands);
}